/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include <string.h>
#include "main.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"
#include "bsp_can.h"
#include "bsp_key.h"
#include "mpu6500.h"
#include "bsp_i2c.h"
#include "bsp_adc.h"
#include "bsp_spi.h"
#include "bsp_tim.h"
#include "bsp_stmflash.h"
#include "bsp_led.h"
#include "st_hardware.h"
#include "common_inc.h"
#include "stockpile_f405rg.h"
#include "emulated_eeprom.h"

#ifdef Driver_IMU6

#include "bsp_colorLED.h"
#endif

void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */


int main(void)
{

    uint8_t key;
    int sect;
    uint16_t cnt1,cnt2;

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/
    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();
    HAL_Delay(1000);

    /* USER CODE BEGIN SysInit */
#ifdef Driver_IMU6

#endif

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_USART1_UART_Init();
    MX_CAN1_Init();
    key_init();
    MX_TIM1_Init();
    MX_TIM2_Init();
    //MX_TIM3_Init();
    MX_TIM4_Init();
    MX_ADC1_Init();
    led_init();
    MX_SPI3_Init();
    // eeprom_buffer_flush();
    MPU9250_Init();
#ifdef Driver_IMU6
    TCS34725_Init();

#endif

    Main();
    while (1)
    {
//        if(cnt1>=200){
//            cnt1 = 0;
//            HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_5);
//        }
//        if(cnt2>=100){
//            cnt2=0;
//            TCS34725_GetRawData(&rgb);  //读两次，实际测试时发现读到的颜色总是上一次的颜色
//            RGBtoHSL(&rgb,&hsl);
//            printf("R=%d G=%d B=%d C=%d\r\n",rgb.r,rgb.g,rgb.b,rgb.c);
//            printf("H=%d S=%d L=%d\r\n",hsl.h,hsl.s,hsl.l);
//        }
//        HAL_Delay(1);
//        cnt1++;
//        cnt2++;

    }
    /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Configure the main internal regulator output voltage
    */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    __HAL_RCC_HSI_ENABLE();
    __HAL_RCC_SYSCLK_CONFIG(RCC_SYSCLKSOURCE_HSE);

    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM = 4;
    RCC_OscInitStruct.PLL.PLLN = 168;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 4;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                                  |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
    {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
